基于Hamilton理论的冷带轧机速度张力系统非奇异快速终端滑模控制  

Nonsingular fast terminal sliding mode control for the speed and tension system of cold strip rolling mill based on Hamilton theory

作　　者：刘乐[1] 周麟 邓冉阳 方一鸣[1] LIU Le;ZHOU Lin;DENG Ran-yang;FANG Yi-ming(Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛066004

出　　处：《控制理论与应用》2022年第5期857-866,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(61803327,61873226,62003296);河北省自然科学基金项目(F2020203018,F2019203090)资助。

摘　　要：针对交流异步电机驱动的冷带轧机速度张力系统的跟踪控制问题,给出一种基于Hamilton理论的非奇异快速终端滑模控制器设计方法.首先,设计了一种新型扰动观测器对系统中由参数摄动和负载扰动引起的不确定项进行观测;其次,通过预反馈控制建立了冷带轧机系统速度张力磁链外环的耗散Hamilton模型,进而基于互联-阻尼配置及能量整形方法完成耗散Hamilton控制器的设计;再次,基于串级控制思想完成了冷带轧机系统电流内环非奇异快速终端滑模控制器的设计.通过理论分析证明了所提控制方法能够保证闭环系统全局稳定.最后,基于某交流异步电机驱动的冷带轧机系统的现场实际数据进行仿真对比研究,仿真结果验证了本文所提方法的有效性.Aiming at the tracking control problem of the speed and tension system of reversible cold strip rolling mill driven by alternating current(AC)asynchronous motors,a design method of nonsingular fast terminal sliding mode controller is proposed based on Hamilton theory.Firstly,the initial disturbance observers are designed to observe the uncertainties caused by parameter perturbations and load perturbation in the system.Secondly,the dissipative Hamilton model of the outside loop of the speed tension and flux in cold strip rolling mill system is established through the pre-feedback control,and then the dissipative Hamilton controllers are designed based on the interconnection-damping configuration and energy shaping method.Thirdly,the nonsingular fast terminal sliding mode controllers for the current inner loop of cold strip rolling mill system are designed based on the cascade control idea.Theoretical analysis proves that the proposed control method can ensure the global stability of the closed-loop system.Finally,the simulation comparative study is carried out based on the field actual data of a cold strip rolling mill system driven by AC asynchronous motors,and the simulation results verify the effectiveness of the proposed method.

关 键 词：可逆冷带轧机 交流异步电机驱动 新型扰动观测器 耗散Hamilton 非奇异快速终端滑模 

分 类 号：TG333[金属学及工艺—金属压力加工] TP273[自动化与计算机技术—检测技术与自动化装置]